Enviaments recents

  • Resilient information-exchange protocol for distributed model predictive control schemes 

    Ananduta, Wayan Wicak; Barreiro Gómez, Julián; Ocampo-Martínez, Carlos; Quijano Silva, Nicanor (2018)
    Text en actes de congrés
    Accés obert
    Distributed Model Predictive Control (DMPC) strategies require local controllers to share information among each other. Considering the importance of communication in such control strategies and the failures that may occur ...
  • GANimation: anatomically-aware facial animation from a single image 

    Pumarola Peris, Albert; Agudo Martínez, Antonio; Martinez, Aleix M.; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Springer, 2018)
    Text en actes de congrés
    Accés obert
    Recent advances in Generative Adversarial Networks (GANs) have shown impressive results for task of facial expression synthesis. The most successful architecture is StarGAN, that conditions GANs' generation process with ...
  • Joining high-level symbolic planning with low-level motion primitives in adaptive HRI: application to dressing assistance 

    Canal Camprodon, Gerard; Pignat, Emmanuel; Alenyà Ribas, Guillem; Calinon, Sylvain; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    For a safe and successful daily living assistance, far from the highly controlled environment of a factory, robots should be able to adapt to ever-changing situations. Programming such a robot is a tedious process that ...
  • Deep lidar CNN to understand the dynamics of moving vehicles 

    Vaquero Gómez, Víctor; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    Perception technologies in Autonomous Driving are experiencing their golden age due to the advances in Deep Learning. Yet, most of these systems rely on the semantically rich information of RGB images. Deep Learning solutions ...
  • Randomized planning of dynamic motions avoiding forward singularities 

    Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Springer International Publishing, 2018)
    Text en actes de congrés
    Accés obert
    Forward singularities, also known as direct, or actuator singularities, cause many problems to the planning and control of robot motions. They yield position errors and rigidity losses of the robot, and generate unbounded ...
  • Randomized kinodynamic planning for constrained systems 

    Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    Kinodynamic RRT planners are considered to be general tools for effectively finding feasible trajectories for high-dimensional dynamical systems. However, they struggle when holonomic constraints are present in the system, ...
  • Accurate computation of quaternions from rotation matrices 

    Sarabandi, Soheil; Thomas, Federico (Springer International Publishing, 2018)
    Text en actes de congrés
    Accés obert
    The main non-singular alternative to 3×3 proper orthogonal matrices, for representing rotations in R3, is quaternions. Thus, it is important to have reliable methods to pass from one representation to the other. While ...
  • Deformable motion 3D reconstruction by union of regularized subspaces 

    Agudo Martínez, Antonio; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Text en actes de congrés
    Accés obert
    This paper presents an approach to jointly retrieve camera pose, time-varying 3D shape, and automatic clustering based on motion primitives, from incomplete 2D trajectories in a monocular video. We introduce the concept ...
  • A reconfigurable asymmetric 3-UPU parallel robot 

    Sarabandi, Soheil; Grosch Obregon, Patrick John; Porta Pleite, Josep Maria; Thomas, Federico (2018)
    Text en actes de congrés
    Accés obert
    Parallel robots with three UPU legs have received a lot of attention due to the possibility of assembling these legs so that the robot performs either a pure translational or a pure rotational motion. Nevertheless, some ...
  • A shifting pole placement approach for the design of performance-varying multivariable PID controllers via BMIs 

    Sánchez, Helem Sabina; Rotondo, Damiano; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin (2018)
    Text en actes de congrés
    Accés obert
    In this paper, the design of a performance-varying multivariable Proportional-Integral-Derivative (PID) controllers is presented. The main objective is to provide a framework for changing online the closed-loop behavior ...
  • Robust invariant sets and active mode detection for discrete-time uncertain descriptor systems 

    Wang, Ye; Olaru, Sorin; Valmorbida, Giorgio; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Text en actes de congrés
    Accés obert
    In this paper, the computation of robust invariant sets for discrete-time uncertain descriptor systems is investigated. The studied descriptor systems are assumed to be regular and stable subject to unknown but bounded ...
  • Aerial robotics in building inspection and maintenance 

    Grau Saldes, Antoni; Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Puig-Pey Clavería, Ana María; Sanfeliu Cortés, Alberto (Technische Universität München, 2018)
    Comunicació de congrés
    Accés obert
    Buildings need periodic revision about their state, materials degrade with time and repairs or renewals have to be made driven by maintenance needs or safety requirements. That happens with any kind of buildings and ...

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